void checklimits(){
  if( pulseYaw < pulseMin) pulseYaw = pulseMin;
  if( pulseYaw > pulseMax ) pulseYaw = pulseMax;
  if( pulseRoll < pulseMin) pulseRoll = pulseMin;
  if( pulseRoll > pulseMax ) pulseRoll = pulseMax;
  if( pulsePitch < pulseMin ) pulsePitch = pulseMin;
  if( pulsePitch > pulseMax ) pulsePitch = pulseMax;
}
